Teaching your dog to respect you means educating him.
Educating him means teaching him lots and lots of words and their meanings. As you're teaching him, he will come to respect you as a fair and capable leader. Because of that respect, he will change his daily behaviors to much better ones.
Educated dogs are the happiest, smartest, most confident dogs in the world. They have learned so many words and good behaviors that they fully understand what is expected of them.
They know what to do.
They know what NOT to do.
Dogs love the security of knowing what to do, and what not to do.
And since YOU'RE the one who taught them these things, they have come to view YOU as their trusted partner and leader. They look up to you. They believe in you. They will do anything for you. They trust you to do anything with them.
An educated dog is a true companion, while an uneducated dog is just a casual pet.
If you don't educate your dog... he will never be the dog he could have been.
He will always be less intelligent. Less exceptional. Less "aware" of his own worth and abilities.
A dog who is properly educated is a "thinking" dog. He is not a robot who does things mechanically. A "thinking" dog listens carefully. He looks at your face, "reads" your expressions and body language, and tries to put individual words together into complex actions.

Socializing Your Dog
How well does your dog get along with strangers? With other dogs? Is he confident around new sights, sounds, and situations?
Between the ages of three and eight months, don't keep your dog sheltered at home. Bring him into a variety of social situations so he will grow up outgoing and unafraid.
Take him to: parks, schools, ball games, playgrounds, street fairs, along bike paths, shopping centers, pet supply stores.
Make sure he conquers: stairs, ramps, foot bridges, railroad tracks, manhole covers, vinyl/tile floors.
He must learn to trust that anything you ask him to do is possible and safe.
Socializing with people
Whenever you see other people, smile and wave and call "Hello!" in a cheerful voice. Walk up to strangers and ask them what time it is. Your puppy will pick up on your friendly attitude and happy voice. He will make good associations with meeting people.
But when it comes to letting other people pet your dog, remember that he is small. In fact, crouch down to him eye-level to get a feel for him perspective on the world. Things look a bit towering, don't you think?
So...ask people to crouch down to him level, rather than bending over him. Hand them a treat to give him. Ask them to scratch his chest and under his chin. Emphasize: "Try to keep your palm facing up when you pet him...that makes him feel more confident." Palm up prevents people from dropping their hand out of the sky onto his head, which can be intimidating.
Socialization problems
If your dog is shy or nervous or suspicious or nasty with people, there are many positive things you can do to help. Three things you don't want to do are reassuring your dog ("It's okay, Skipper..."), picking your dog up, or tightening your dog's leash to hold him close to you. These may seem like natural responses to your dog's anxiety, but they backfire badly by encouraging your dog to act even more timid or aggressive.